137 lines
3.0 KiB
C++
137 lines
3.0 KiB
C++
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
#ifndef MYNTEYE_DEVICE_CALLBACKS_H_
|
|
#define MYNTEYE_DEVICE_CALLBACKS_H_
|
|
#pragma once
|
|
|
|
#include <cstdint>
|
|
|
|
#include <algorithm>
|
|
#include <functional>
|
|
#include <memory>
|
|
#include <vector>
|
|
|
|
#include "mynteye/mynteye.h"
|
|
#include "mynteye/types.h"
|
|
|
|
MYNTEYE_BEGIN_NAMESPACE
|
|
|
|
namespace device {
|
|
|
|
/**
|
|
* @ingroup datatypes
|
|
* Frame with raw data.
|
|
*/
|
|
class MYNTEYE_API Frame {
|
|
public:
|
|
using data_t = std::vector<std::uint8_t>;
|
|
|
|
/**
|
|
* Construct the frame with StreamRequest and raw data.
|
|
*/
|
|
Frame(const StreamRequest &request, const void *data)
|
|
: Frame(request.width, request.height, request.format, data) {}
|
|
|
|
/**
|
|
* Construct the frame with stream info and raw data.
|
|
*/
|
|
Frame(
|
|
std::uint16_t width, std::uint16_t height, Format format,
|
|
const void *data)
|
|
: width_(width), height_(height), format_(format) {
|
|
std::size_t bytes_n = (width * height) * bytes_per_pixel(format);
|
|
if (data) {
|
|
const std::uint8_t *bytes = static_cast<const std::uint8_t *>(data);
|
|
data_ = data_t(bytes, bytes + bytes_n);
|
|
} else {
|
|
data_.assign(bytes_n, 0);
|
|
}
|
|
}
|
|
|
|
/** Get the width. */
|
|
std::uint16_t width() const {
|
|
return width_;
|
|
}
|
|
|
|
/** Get the height. */
|
|
std::uint16_t height() const {
|
|
return height_;
|
|
}
|
|
|
|
/** Get the format. */
|
|
Format format() const {
|
|
return format_;
|
|
}
|
|
|
|
/** Get the data. */
|
|
std::uint8_t *data() {
|
|
return data_.data();
|
|
}
|
|
|
|
/** Get the const data. */
|
|
const std::uint8_t *data() const {
|
|
return data_.data();
|
|
}
|
|
|
|
/** Get the size of data. */
|
|
std::size_t size() const {
|
|
return data_.size();
|
|
}
|
|
|
|
/** Clone a new frame. */
|
|
Frame clone() const {
|
|
Frame frame(width_, height_, format_, nullptr);
|
|
std::copy(data_.begin(), data_.end(), frame.data_.begin());
|
|
return frame;
|
|
}
|
|
|
|
private:
|
|
std::uint16_t width_;
|
|
std::uint16_t height_;
|
|
Format format_;
|
|
|
|
data_t data_;
|
|
};
|
|
|
|
/**
|
|
* @ingroup datatypes
|
|
* Device stream data.
|
|
*/
|
|
struct MYNTEYE_API StreamData {
|
|
/** ImgData. */
|
|
std::shared_ptr<ImgData> img;
|
|
/** Frame. */
|
|
std::shared_ptr<Frame> frame;
|
|
/** Frame ID. */
|
|
std::uint16_t frame_id;
|
|
};
|
|
|
|
/**
|
|
* @ingroup datatypes
|
|
* Device motion data.
|
|
*/
|
|
struct MYNTEYE_API MotionData {
|
|
/** ImuData. */
|
|
std::shared_ptr<ImuData> imu;
|
|
};
|
|
|
|
using StreamCallback = std::function<void(const StreamData &data)>;
|
|
using MotionCallback = std::function<void(const MotionData &data)>;
|
|
|
|
} // namespace device
|
|
|
|
MYNTEYE_END_NAMESPACE
|
|
|
|
#endif // MYNTEYE_DEVICE_CALLBACKS_H_
|